ros2 pkg create odom_publisher 1. 编写Python代码 接下来,我们需要编写Python代码来发布odom消息。我们创建一个名为odom_publisher.py的Python脚本,并在其中编写发布odom消息的代码。以下是一个简单的示例: importrclpyfromrclpy.nodeimportNodefromnav_msgs.msgimportOdometryfromgeometry_msgs.msgimportVector3,Quaternion...
msg::Odometry>::SharedPtr odom_subscribe_; std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_; nav_msgs::msg::Odometry odom_msg_; // 回调函数,处理接收到的odom消息 void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg) { (void)msg; RCLCPP_INFO(this->get_logger()...
publish_odom_tf 是否发布里程计的tf开关 publish_wheel_tf 是否发布轮子的tf数据开关 odometry_frame 里程计的framed ID,最终体现在话题和TF上 robot_base_frame 机器人的基础frame的ID 2.2.2 控制指令 两轮差速控制器默认通过订阅话题cmd_vel来获取目标线速度和角速度。该话题的类型为:geometry_msgs/msg/Twist ...
2. odom tf 修改头文件 #include <tf/transform_broadcaster.h>--->#include <tf2_ros/transform_broadcaster.h> #include <geometry_msgs/Vector3Stamped.h>--->#include <geometry_msgs/msg/transform_stamped.hpp> 修改类型 geometry_msgs::TransformStamped--->geometry_msgs::msg::TransformStamped tf::Trans...
void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg) { (void)msg; RCLCPP_INFO(this->get_logger(), "接收到里程计信息->底盘坐标系 tf :(%f,%f)", msg->pose.pose.position.x, msg->pose.pose.position.y); // 更新odom_msg_的姿态信息 ...
self.create_timer(self.timestep/1000,self.__publish_laserscan_data)def__publish_laserscan_data(self):stamp=Time(seconds=self.robot.getTime()).to_msg()dists=[OUT_OF_RANGE]*NB_INFRARED_SENSORSdist_tof=OUT_OF_RANGE# Calculate distancesfori,keyinenumerate(self.distance_sensors):dists[i]=inter...
Select "/odom" for the topic and click OK. Note that the message type nav_msgs/Odometry is set automatically. From the Simulink > Signal Routing tab in the Library Browser, drag a Bus Selector block to the model. Connect the Msg output port of the Subscribe block to the input port of...
{"ros2_adapter_configuration": {"localization": {"formant_stream":"example.localization","base_reference_frame":"map","odometry_subscriber_ros2_topic":"/odom","map_subscriber_ros2_topic":"/map","point_cloud_subscriber_ros2_topics": [ {"ros2_topic":"/scan"}, {"ros2_topic":"/stereo...
;}}voidodom_callback(constnav_msgs::msg::Odometry::SharedPtr msg){if(drive_flag){vel_x=goal_x-msg->pose.pose.position.x;vel_z=pid_z*(goal_y-msg->pose.pose.position.y)*vel_x*vel_x;if(vel_z>0.5){vel_z=0.5;}if(vel_z<-0.5){vel_z=-0.5;}if(vel_x>1.0){vel_x=1.0;}if...
voidBaseDriver::work_loop(){// ros::Rate loop(bdg.freq);rclcpp::WallRateloop(100);while(rclcpp::ok()){// update_param();// update_odom();// update_pid_debug();// update_speed();// if (bdg.use_imu) {// if (Data_holder::get()->parameter.imu_type == IMU_TYPE_GY65// ...